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<h1>serial.c</h1><a href="serial_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"></span>
<a name="l00003"></a>00003 <span class="comment"> Copyright 2006 MakingThings</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment"> Licensed under the Apache License, </span>
<a name="l00006"></a>00006 <span class="comment"> Version 2.0 (the "License"); you may not use this file except in compliance </span>
<a name="l00007"></a>00007 <span class="comment"> with the License. You may obtain a copy of the License at</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment"> http://www.apache.org/licenses/LICENSE-2.0 </span>
<a name="l00010"></a>00010 <span class="comment"> </span>
<a name="l00011"></a>00011 <span class="comment"> Unless required by applicable law or agreed to in writing, software distributed</span>
<a name="l00012"></a>00012 <span class="comment"> under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR</span>
<a name="l00013"></a>00013 <span class="comment"> CONDITIONS OF ANY KIND, either express or implied. See the License for</span>
<a name="l00014"></a>00014 <span class="comment"> the specific language governing permissions and limitations under the License.</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment">*********************************************************************************/</span>
<a name="l00017"></a>00017 
<a name="l00018"></a>00018 <span class="comment">/* Library includes. */</span>
<a name="l00019"></a>00019 <span class="preprocessor">#include &lt;string.h&gt;</span>
<a name="l00020"></a>00020 <span class="preprocessor">#include &lt;stdio.h&gt;</span>
<a name="l00021"></a>00021 
<a name="l00022"></a>00022 <span class="comment">/* Scheduler includes. */</span>
<a name="l00023"></a>00023 <span class="preprocessor">#include "FreeRTOS.h"</span>
<a name="l00024"></a>00024 <span class="preprocessor">#include "task.h"</span>
<a name="l00025"></a>00025 
<a name="l00026"></a>00026 <span class="comment">/* Hardware specific headers. */</span>
<a name="l00027"></a>00027 <span class="preprocessor">#include "Board.h"</span>
<a name="l00028"></a>00028 <span class="preprocessor">#include "AT91SAM7X256.h"</span>
<a name="l00029"></a>00029 <span class="preprocessor">#include "config.h"</span>
<a name="l00030"></a>00030 <span class="preprocessor">#include "io.h"</span>
<a name="l00031"></a>00031 <span class="preprocessor">#include "serial.h"</span>
<a name="l00032"></a>00032 <span class="preprocessor">#include "serial_internal.h"</span>
<a name="l00033"></a>00033 
<a name="l00034"></a>00034 Serial_ Serial;
<a name="l00035"></a>00035 
<a name="l00036"></a>00036 <span class="keyword">extern</span> void ( SerialIsr_Wrapper )( void );
<a name="l00037"></a>00037 
<a name="l00038"></a>00038 <span class="keyword">static</span> <span class="keywordtype">int</span> Serial_Init( <span class="keywordtype">void</span> );
<a name="l00039"></a>00039 <span class="keyword">static</span> <span class="keywordtype">int</span> Serial_Deinit( <span class="keywordtype">void</span> );
<a name="l00040"></a>00040 <span class="keyword">static</span> <span class="keywordtype">int</span> Serial_SetDefault( <span class="keywordtype">void</span> );
<a name="l00041"></a>00041 <span class="keyword">static</span> <span class="keywordtype">int</span> Serial_SetDetails( <span class="keywordtype">void</span> );
<a name="l00042"></a>00042 <span class="comment"></span>
<a name="l00043"></a>00043 <span class="comment">/** \file serial.c  </span>
<a name="l00044"></a>00044 <span class="comment">  Functions for working with the Serial Interface on the Make Controller Board.</span>
<a name="l00045"></a>00045 <span class="comment">*/</span>
<a name="l00046"></a>00046 <span class="comment"></span>
<a name="l00047"></a>00047 <span class="comment">/** \defgroup serial Serial</span>
<a name="l00048"></a>00048 <span class="comment">  Serial provides a way to send and receive data via the serial port.</span>
<a name="l00049"></a>00049 <span class="comment"></span>
<a name="l00050"></a>00050 <span class="comment">  The subsystem is supplied with small input and output buffers (of 100 characters each) and at present</span>
<a name="l00051"></a>00051 <span class="comment">  the implementation is interrupt per character so it's not particularly fast.</span>
<a name="l00052"></a>00052 <span class="comment"></span>
<a name="l00053"></a>00053 <span class="comment">  Permits all of the common serial characteristics to be set including:</span>
<a name="l00054"></a>00054 <span class="comment">  - baud - the speed of the connection (110 - &gt; 2M) in baud or raw bits per second.  9600 baud is the default setting.</span>
<a name="l00055"></a>00055 <span class="comment">  - bits - the size of each character (5 - 8).  8 bits is the default setting.</span>
<a name="l00056"></a>00056 <span class="comment">  - stopBits - the number of stop bits transmitted (1 or 2)  1 stop bit is the default setting.</span>
<a name="l00057"></a>00057 <span class="comment">  - parity - the parity policy (-1 is odd, 0 is none and 1 is even).  Even is the default setting.</span>
<a name="l00058"></a>00058 <span class="comment">  - hardwareHandshake - whether hardware handshaking is used or not.  HardwareHandshaking is off by default.</span>
<a name="l00059"></a>00059 <span class="comment"></span>
<a name="l00060"></a>00060 <span class="comment">  \todo Need to complete support for the Hardware Handshaking</span>
<a name="l00061"></a>00061 <span class="comment">  \todo Convert to DMA interface for higher performance.</span>
<a name="l00062"></a>00062 <span class="comment"></span>
<a name="l00063"></a>00063 <span class="comment">  \ingroup Controller</span>
<a name="l00064"></a>00064 <span class="comment">  @{</span>
<a name="l00065"></a>00065 <span class="comment">*/</span>
<a name="l00066"></a>00066 
<a name="l00067"></a>00067 <span class="comment"></span>
<a name="l00068"></a>00068 <span class="comment">/**</span>
<a name="l00069"></a>00069 <span class="comment">  Set the active state of the Serial subsystem.  This is automatically set to </span>
<a name="l00070"></a>00070 <span class="comment">  true by any call to Serial_Write or Serial_Read.</span>
<a name="l00071"></a>00071 <span class="comment">  @param state An integer specifying the active state - 1 (on) or 0 (off).</span>
<a name="l00072"></a>00072 <span class="comment">  @return CONTROLLER_OK (=0) on success.</span>
<a name="l00073"></a>00073 <span class="comment">*/</span>
<a name="l00074"></a><a class="code" href="group__serial.html#g9193106181ca33626bd405a1f0434ee6">00074</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#g9193106181ca33626bd405a1f0434ee6" title="Set the active state of the Serial subsystem.">Serial_SetActive</a>( <span class="keywordtype">int</span> state )
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076   <span class="keywordflow">if</span> ( state )
<a name="l00077"></a>00077   {
<a name="l00078"></a>00078     <span class="keywordflow">if</span> ( Serial.users++ == 0 )
<a name="l00079"></a>00079     {
<a name="l00080"></a>00080       Serial_Init();
<a name="l00081"></a>00081     }
<a name="l00082"></a>00082   }
<a name="l00083"></a>00083   <span class="keywordflow">else</span>
<a name="l00084"></a>00084   {
<a name="l00085"></a>00085     <span class="keywordflow">if</span> ( Serial.users &gt; 0 ) 
<a name="l00086"></a>00086     {
<a name="l00087"></a>00087       <span class="keywordflow">if</span> ( --Serial.users == 0 )
<a name="l00088"></a>00088       {
<a name="l00089"></a>00089         Serial_Deinit();
<a name="l00090"></a>00090       }
<a name="l00091"></a>00091     }
<a name="l00092"></a>00092   }
<a name="l00093"></a>00093   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00094"></a>00094 }
<a name="l00095"></a>00095 <span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment">/**</span>
<a name="l00097"></a>00097 <span class="comment">  Read the active state of the Serial subsystem.</span>
<a name="l00098"></a>00098 <span class="comment">  @return State - 1/non-zero (on) or 0 (off).</span>
<a name="l00099"></a>00099 <span class="comment">*/</span>
<a name="l00100"></a><a class="code" href="group__serial.html#gcce26617c8506ce4194adefd107f93a2">00100</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#gcce26617c8506ce4194adefd107f93a2" title="Read the active state of the Serial subsystem.">Serial_GetActive</a>( )
<a name="l00101"></a>00101 {
<a name="l00102"></a>00102   <span class="keywordflow">return</span> Serial.users &gt; 0;
<a name="l00103"></a>00103 }
<a name="l00104"></a>00104 <span class="comment"></span>
<a name="l00105"></a>00105 <span class="comment">/** </span>
<a name="l00106"></a>00106 <span class="comment">  Write a block of data to the Serial port.  Will block for the time specified (in ms)</span>
<a name="l00107"></a>00107 <span class="comment">  if the queue fills up.</span>
<a name="l00108"></a>00108 <span class="comment">  @param buffer A pointer to the buffer to write from.</span>
<a name="l00109"></a>00109 <span class="comment">  @param count An integer specifying the number of bytes to write.</span>
<a name="l00110"></a>00110 <span class="comment">  @param timeout Time in milliseconds to block waiting for the queue to free up. 0 means don't wait.</span>
<a name="l00111"></a>00111 <span class="comment">  @return status.</span>
<a name="l00112"></a>00112 <span class="comment">*/</span>
<a name="l00113"></a><a class="code" href="group__serial.html#ga84bc3522badbcf45ad97e7a0320c54e">00113</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#ga84bc3522badbcf45ad97e7a0320c54e" title="Write a block of data to the Serial port.">Serial_Write</a>( uchar* buffer, <span class="keywordtype">int</span> count, <span class="keywordtype">int</span> timeout )
<a name="l00114"></a>00114 {
<a name="l00115"></a>00115   <span class="keywordflow">if</span> ( Serial.users == 0 )
<a name="l00116"></a>00116   {
<a name="l00117"></a>00117     <span class="keywordtype">int</span> status = <a class="code" href="group__serial.html#g9193106181ca33626bd405a1f0434ee6" title="Set the active state of the Serial subsystem.">Serial_SetActive</a>( 1 );
<a name="l00118"></a>00118     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00119"></a>00119       <span class="keywordflow">return</span> status;
<a name="l00120"></a>00120   }
<a name="l00121"></a>00121 
<a name="l00122"></a>00122   <span class="comment">// Do the business</span>
<a name="l00123"></a>00123   <span class="keywordflow">while</span> ( count )
<a name="l00124"></a>00124   {
<a name="l00125"></a>00125     <span class="keywordflow">if</span>( xQueueSend( Serial.transmitQueue, buffer++, timeout / portTICK_RATE_MS  ) == 0 ) 
<a name="l00126"></a>00126       <span class="keywordflow">return</span> <a class="code" href="group___error.html#g7f84a0c690875b21180d0177b6e23f42" title="An error with the queue.">CONTROLLER_ERROR_QUEUE_ERROR</a>; 
<a name="l00127"></a>00127     count--;
<a name="l00128"></a>00128   }
<a name="l00129"></a>00129    
<a name="l00130"></a>00130   <span class="comment">/* Turn on the Tx interrupt so the ISR will remove the character from the </span>
<a name="l00131"></a>00131 <span class="comment">  queue and send it. This does not need to be in a critical section as </span>
<a name="l00132"></a>00132 <span class="comment">  if the interrupt has already removed the character the next interrupt </span>
<a name="l00133"></a>00133 <span class="comment">  will simply turn off the Tx interrupt again. */</span> 
<a name="l00134"></a>00134   AT91C_BASE_US0-&gt;US_IER = AT91C_US_TXRDY; 
<a name="l00135"></a>00135  
<a name="l00136"></a>00136   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00137"></a>00137 }
<a name="l00138"></a>00138 <span class="comment"></span>
<a name="l00139"></a>00139 <span class="comment">/** </span>
<a name="l00140"></a>00140 <span class="comment">  Read data from the Serial port.  Will block for the time specified (in ms) if </span>
<a name="l00141"></a>00141 <span class="comment">  there are insufficient characters.  Blocking can be avoided if Serial_GetReadable( )</span>
<a name="l00142"></a>00142 <span class="comment">  is used to determine how many characters are available to read prior to calling</span>
<a name="l00143"></a>00143 <span class="comment">  this function.</span>
<a name="l00144"></a>00144 <span class="comment">  @param buffer A pointer to the buffer to read into.</span>
<a name="l00145"></a>00145 <span class="comment">  @param size An integer specifying the maximum number of bytes to read.</span>
<a name="l00146"></a>00146 <span class="comment">  @param timeout Time in milliseconds to block waiting for the specified number of bytes. 0 means don't wait.</span>
<a name="l00147"></a>00147 <span class="comment">  @return number of bytes read (&gt;=0) or error &lt;0 .</span>
<a name="l00148"></a>00148 <span class="comment">*/</span>
<a name="l00149"></a><a class="code" href="group__serial.html#g38bf8f1f9d2f3eca49c449a1c1a4a350">00149</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#g38bf8f1f9d2f3eca49c449a1c1a4a350" title="Read data from the Serial port.">Serial_Read</a>( uchar* buffer, <span class="keywordtype">int</span> size, <span class="keywordtype">int</span> timeout )
<a name="l00150"></a>00150 {
<a name="l00151"></a>00151   <span class="keywordflow">if</span> ( Serial.users == 0 )
<a name="l00152"></a>00152   {
<a name="l00153"></a>00153     <span class="keywordtype">int</span> status = <a class="code" href="group__serial.html#g9193106181ca33626bd405a1f0434ee6" title="Set the active state of the Serial subsystem.">Serial_SetActive</a>( 1 );
<a name="l00154"></a>00154     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00155"></a>00155       <span class="keywordflow">return</span> status;
<a name="l00156"></a>00156   }
<a name="l00157"></a>00157 
<a name="l00158"></a>00158   <span class="comment">// Do the business</span>
<a name="l00159"></a>00159   <span class="keywordtype">int</span> count = 0;
<a name="l00160"></a>00160   <span class="keywordflow">while</span> ( count &lt; size )
<a name="l00161"></a>00161   {
<a name="l00162"></a>00162     <span class="comment">/* Place the character in the queue of characters to be transmitted. */</span> 
<a name="l00163"></a>00163     <span class="keywordflow">if</span>( xQueueReceive( Serial.receiveQueue, buffer++, timeout ) == 0 )
<a name="l00164"></a>00164       <span class="keywordflow">break</span>;
<a name="l00165"></a>00165     count++;
<a name="l00166"></a>00166   }
<a name="l00167"></a>00167 
<a name="l00168"></a>00168   <span class="keywordflow">return</span> count;
<a name="l00169"></a>00169 }
<a name="l00170"></a>00170 <span class="comment"></span>
<a name="l00171"></a>00171 <span class="comment">/** </span>
<a name="l00172"></a>00172 <span class="comment">  Returns the number of bytes in the queue waiting to be read.</span>
<a name="l00173"></a>00173 <span class="comment">  @return bytes in the receive queue.</span>
<a name="l00174"></a>00174 <span class="comment">*/</span>
<a name="l00175"></a><a class="code" href="group__serial.html#g8b7ec06170daf2e6d0b792fc47c1813f">00175</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#g8b7ec06170daf2e6d0b792fc47c1813f" title="Returns the number of bytes in the queue waiting to be read.">Serial_GetReadable</a>( <span class="keywordtype">void</span> )
<a name="l00176"></a>00176 {
<a name="l00177"></a>00177   <span class="keywordflow">return</span> uxQueueMessagesWaiting( Serial.receiveQueue );
<a name="l00178"></a>00178 }
<a name="l00179"></a>00179 <span class="comment"></span>
<a name="l00180"></a>00180 <span class="comment">/** </span>
<a name="l00181"></a>00181 <span class="comment">  Sends a character (in the range of 0 to 255) to the write queue</span>
<a name="l00182"></a>00182 <span class="comment">  @param character The character to be sent.  Must be 0 &lt;= c &lt; 256.</span>
<a name="l00183"></a>00183 <span class="comment">  @return status.</span>
<a name="l00184"></a>00184 <span class="comment">*/</span>
<a name="l00185"></a><a class="code" href="group__serial.html#g656fe7020d5e9d1218ceb6d805c1a0ea">00185</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#g656fe7020d5e9d1218ceb6d805c1a0ea" title="Sends a character (in the range of 0 to 255) to the write queue.">Serial_SetChar</a>( <span class="keywordtype">int</span> character )
<a name="l00186"></a>00186 {
<a name="l00187"></a>00187   <span class="keywordflow">if</span> ( Serial.users == 0 )
<a name="l00188"></a>00188   {
<a name="l00189"></a>00189     <span class="keywordtype">int</span> status = <a class="code" href="group__serial.html#g9193106181ca33626bd405a1f0434ee6" title="Set the active state of the Serial subsystem.">Serial_SetActive</a>( 1 );
<a name="l00190"></a>00190     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00191"></a>00191       <span class="keywordflow">return</span> status;
<a name="l00192"></a>00192   }
<a name="l00193"></a>00193 
<a name="l00194"></a>00194   <span class="keywordflow">if</span> ( character &gt;= 0 &amp;&amp; character &lt; 256 )
<a name="l00195"></a>00195   {
<a name="l00196"></a>00196     <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> c = (<span class="keywordtype">unsigned</span> char)character;
<a name="l00197"></a>00197     <span class="keywordflow">if</span>( xQueueSend( Serial.transmitQueue, &amp;c, 0 ) == 0 ) 
<a name="l00198"></a>00198       <span class="keywordflow">return</span> <a class="code" href="group___error.html#g7f84a0c690875b21180d0177b6e23f42" title="An error with the queue.">CONTROLLER_ERROR_QUEUE_ERROR</a>; 
<a name="l00199"></a>00199     AT91C_BASE_US0-&gt;US_IER = AT91C_US_TXRDY; 
<a name="l00200"></a>00200    }
<a name="l00201"></a>00201 
<a name="l00202"></a>00202   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00203"></a>00203 }
<a name="l00204"></a>00204 <span class="comment"></span>
<a name="l00205"></a>00205 <span class="comment">/** </span>
<a name="l00206"></a>00206 <span class="comment">  Sets the serial baud rate.</span>
<a name="l00207"></a>00207 <span class="comment">  @param baud The desired baud rate.</span>
<a name="l00208"></a>00208 <span class="comment">  @return status.</span>
<a name="l00209"></a>00209 <span class="comment">*/</span>
<a name="l00210"></a><a class="code" href="group__serial.html#geaaa9b5540b566d9a34821a8b5039704">00210</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#geaaa9b5540b566d9a34821a8b5039704" title="Sets the serial baud rate.">Serial_SetBaud</a>( <span class="keywordtype">int</span> baud )
<a name="l00211"></a>00211 {
<a name="l00212"></a>00212   <span class="comment">// If there are no default values, get some</span>
<a name="l00213"></a>00213   <span class="keywordflow">if</span> ( !Serial.detailsInitialized )
<a name="l00214"></a>00214     Serial_SetDefault();
<a name="l00215"></a>00215 
<a name="l00216"></a>00216   Serial.baud = baud;
<a name="l00217"></a>00217   Serial_SetDetails( );
<a name="l00218"></a>00218 
<a name="l00219"></a>00219   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00220"></a>00220 }
<a name="l00221"></a>00221 <span class="comment"></span>
<a name="l00222"></a>00222 <span class="comment">/** </span>
<a name="l00223"></a>00223 <span class="comment">  Sets the number of bits per character.  5 - 8 are legal values.  8 is the default.</span>
<a name="l00224"></a>00224 <span class="comment">  @param bits bits per character</span>
<a name="l00225"></a>00225 <span class="comment">  @return status.</span>
<a name="l00226"></a>00226 <span class="comment">*/</span>
<a name="l00227"></a><a class="code" href="group__serial.html#g68d8aaf6db20f5d40c972816009df362">00227</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#g68d8aaf6db20f5d40c972816009df362" title="Sets the number of bits per character.">Serial_SetBits</a>( <span class="keywordtype">int</span> bits )
<a name="l00228"></a>00228 {
<a name="l00229"></a>00229   <span class="comment">// If there are no default values, get some</span>
<a name="l00230"></a>00230   <span class="keywordflow">if</span> ( !Serial.detailsInitialized )
<a name="l00231"></a>00231     Serial_SetDefault();
<a name="l00232"></a>00232 
<a name="l00233"></a>00233   <span class="keywordflow">if</span> ( Serial.bits &gt;= 5 &amp;&amp; Serial.bits &lt;= 8 )
<a name="l00234"></a>00234     Serial.bits = bits;
<a name="l00235"></a>00235   <span class="keywordflow">else</span>
<a name="l00236"></a>00236     Serial.bits = 8;
<a name="l00237"></a>00237 
<a name="l00238"></a>00238   Serial_SetDetails( );
<a name="l00239"></a>00239 
<a name="l00240"></a>00240   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00241"></a>00241 }
<a name="l00242"></a>00242 <span class="comment"></span>
<a name="l00243"></a>00243 <span class="comment">/** </span>
<a name="l00244"></a>00244 <span class="comment">  Sets the parity.  -1 is odd, 0 is none, 1 is even.  The default is none - 0.</span>
<a name="l00245"></a>00245 <span class="comment">  @param parity -1, 0 or 1.</span>
<a name="l00246"></a>00246 <span class="comment">  @return status.</span>
<a name="l00247"></a>00247 <span class="comment">*/</span>
<a name="l00248"></a><a class="code" href="group__serial.html#gbee8a4ec92c806213b16111c34888d55">00248</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#gbee8a4ec92c806213b16111c34888d55" title="Sets the parity.">Serial_SetParity</a>( <span class="keywordtype">int</span> parity )
<a name="l00249"></a>00249 {
<a name="l00250"></a>00250   <span class="comment">// If there are no default values, get some</span>
<a name="l00251"></a>00251   <span class="keywordflow">if</span> ( !Serial.detailsInitialized )
<a name="l00252"></a>00252     Serial_SetDefault();
<a name="l00253"></a>00253 
<a name="l00254"></a>00254   <span class="keywordflow">if</span> ( parity &gt;= -1 &amp;&amp; parity &lt;= 1 )
<a name="l00255"></a>00255     Serial.parity = parity;
<a name="l00256"></a>00256   <span class="keywordflow">else</span>
<a name="l00257"></a>00257     Serial.parity = 1;
<a name="l00258"></a>00258   Serial_SetDetails( );
<a name="l00259"></a>00259 
<a name="l00260"></a>00260   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00261"></a>00261 }
<a name="l00262"></a>00262 <span class="comment"></span>
<a name="l00263"></a>00263 <span class="comment">/** </span>
<a name="l00264"></a>00264 <span class="comment">  Sets the stop bits per character.  1 or 2 are legal values.  1 is the default.</span>
<a name="l00265"></a>00265 <span class="comment">  @param stopBits stop bits per character</span>
<a name="l00266"></a>00266 <span class="comment">  @return status.</span>
<a name="l00267"></a>00267 <span class="comment">*/</span>
<a name="l00268"></a><a class="code" href="group__serial.html#g8e7837524e2ce8996a228a550bba653e">00268</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#g8e7837524e2ce8996a228a550bba653e" title="Sets the stop bits per character.">Serial_SetStopBits</a>( <span class="keywordtype">int</span> stopBits )
<a name="l00269"></a>00269 {
<a name="l00270"></a>00270   <span class="comment">// If there are no default values, get some</span>
<a name="l00271"></a>00271   <span class="keywordflow">if</span> ( !Serial.detailsInitialized )
<a name="l00272"></a>00272     Serial_SetDefault();
<a name="l00273"></a>00273 
<a name="l00274"></a>00274   <span class="keywordflow">if</span> ( stopBits == 1 || stopBits == 2 )
<a name="l00275"></a>00275     Serial.stopBits = stopBits;
<a name="l00276"></a>00276   <span class="keywordflow">else</span>
<a name="l00277"></a>00277     Serial.stopBits = 1;
<a name="l00278"></a>00278 
<a name="l00279"></a>00279   Serial_SetDetails( );
<a name="l00280"></a>00280 
<a name="l00281"></a>00281   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00282"></a>00282 }
<a name="l00283"></a>00283 <span class="comment"></span>
<a name="l00284"></a>00284 <span class="comment">/** </span>
<a name="l00285"></a>00285 <span class="comment">  Sets whether hardware handshaking is being used.</span>
<a name="l00286"></a>00286 <span class="comment">  @param hardwareHandshake sets hardware handshaking on (1) or off (0)</span>
<a name="l00287"></a>00287 <span class="comment">  @return status.</span>
<a name="l00288"></a>00288 <span class="comment">*/</span>
<a name="l00289"></a><a class="code" href="group__serial.html#g4a91a45c86376600e5d0bdcd43a67557">00289</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#g4a91a45c86376600e5d0bdcd43a67557" title="Sets whether hardware handshaking is being used.">Serial_SetHardwareHandshake</a>( <span class="keywordtype">int</span> hardwareHandshake )
<a name="l00290"></a>00290 {
<a name="l00291"></a>00291   <span class="comment">// If there are no default values, get some</span>
<a name="l00292"></a>00292   <span class="keywordflow">if</span> ( !Serial.detailsInitialized )
<a name="l00293"></a>00293     Serial_SetDefault();
<a name="l00294"></a>00294 
<a name="l00295"></a>00295   Serial.hardwareHandshake = hardwareHandshake;
<a name="l00296"></a>00296   Serial_SetDetails( );
<a name="l00297"></a>00297   
<a name="l00298"></a>00298   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00299"></a>00299 }
<a name="l00300"></a>00300 <span class="comment"></span>
<a name="l00301"></a>00301 <span class="comment">/** </span>
<a name="l00302"></a>00302 <span class="comment">  Returns a single character from the receive queue if available.  This character is returned</span>
<a name="l00303"></a>00303 <span class="comment">  unsigned - i.e. having a value of 0 - 255.  The return value is -1 if there is no character waiting.</span>
<a name="l00304"></a>00304 <span class="comment">  @return character from the queue or -1 if there is no character.</span>
<a name="l00305"></a>00305 <span class="comment">*/</span>
<a name="l00306"></a><a class="code" href="group__serial.html#g476bb22eb20b7b24c418182077c103bd">00306</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#g476bb22eb20b7b24c418182077c103bd" title="Returns a single character from the receive queue if available.">Serial_GetChar</a>( )
<a name="l00307"></a>00307 {
<a name="l00308"></a>00308   <span class="keywordflow">if</span> ( Serial.users == 0 )
<a name="l00309"></a>00309   {
<a name="l00310"></a>00310     <span class="keywordtype">int</span> status = <a class="code" href="group__serial.html#g9193106181ca33626bd405a1f0434ee6" title="Set the active state of the Serial subsystem.">Serial_SetActive</a>( 1 );
<a name="l00311"></a>00311     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00312"></a>00312       <span class="keywordflow">return</span> -1;
<a name="l00313"></a>00313   }
<a name="l00314"></a>00314 
<a name="l00315"></a>00315   <span class="keywordflow">if</span> ( uxQueueMessagesWaiting( Serial.receiveQueue ) )
<a name="l00316"></a>00316   {
<a name="l00317"></a>00317     <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> c;
<a name="l00318"></a>00318     <span class="keywordflow">if</span>( xQueueReceive( Serial.receiveQueue, &amp;c, 0 ) == 0 )
<a name="l00319"></a>00319       <span class="keywordflow">return</span> -1;
<a name="l00320"></a>00320     <span class="keywordflow">else</span>
<a name="l00321"></a>00321       <span class="keywordflow">return</span> (<span class="keywordtype">int</span>)c;
<a name="l00322"></a>00322   }
<a name="l00323"></a>00323   <span class="keywordflow">else</span>
<a name="l00324"></a>00324     <span class="keywordflow">return</span> -1; 
<a name="l00325"></a>00325 }
<a name="l00326"></a>00326 <span class="comment"></span>
<a name="l00327"></a>00327 <span class="comment">/** </span>
<a name="l00328"></a>00328 <span class="comment">  Returns the current baud rate</span>
<a name="l00329"></a>00329 <span class="comment">  @return baud</span>
<a name="l00330"></a>00330 <span class="comment">*/</span>
<a name="l00331"></a><a class="code" href="group__serial.html#g6bc17fd08864dc68388da92e25a6d644">00331</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#g6bc17fd08864dc68388da92e25a6d644" title="Returns the current baud rate.">Serial_GetBaud</a>( )
<a name="l00332"></a>00332 {
<a name="l00333"></a>00333   <span class="comment">// If there are no default values, get some</span>
<a name="l00334"></a>00334   <span class="keywordflow">if</span> ( !Serial.detailsInitialized )
<a name="l00335"></a>00335     Serial_SetDefault();
<a name="l00336"></a>00336 
<a name="l00337"></a>00337   <span class="keywordflow">return</span> Serial.baud;
<a name="l00338"></a>00338 }
<a name="l00339"></a>00339 <span class="comment"></span>
<a name="l00340"></a>00340 <span class="comment">/** </span>
<a name="l00341"></a>00341 <span class="comment">  Returns the number of bits for each character</span>
<a name="l00342"></a>00342 <span class="comment">  @return bits</span>
<a name="l00343"></a>00343 <span class="comment">*/</span>
<a name="l00344"></a><a class="code" href="group__serial.html#g5509b2efd0f29408e77f22ae56c25947">00344</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#g5509b2efd0f29408e77f22ae56c25947" title="Returns the number of bits for each character.">Serial_GetBits</a>( )
<a name="l00345"></a>00345 {
<a name="l00346"></a>00346   <span class="comment">// If there are no default values, get some</span>
<a name="l00347"></a>00347   <span class="keywordflow">if</span> ( !Serial.detailsInitialized )
<a name="l00348"></a>00348     Serial_SetDefault();
<a name="l00349"></a>00349 
<a name="l00350"></a>00350   <span class="keywordflow">return</span> Serial.bits;
<a name="l00351"></a>00351 }
<a name="l00352"></a>00352 <span class="comment"></span>
<a name="l00353"></a>00353 <span class="comment">/** </span>
<a name="l00354"></a>00354 <span class="comment">  Returns the current parity.  -1 means odd, 0 means none, 1 means even</span>
<a name="l00355"></a>00355 <span class="comment">  @return parity</span>
<a name="l00356"></a>00356 <span class="comment">*/</span>
<a name="l00357"></a><a class="code" href="group__serial.html#gb3fe0242e8d76457aec54976e2631b8a">00357</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#gb3fe0242e8d76457aec54976e2631b8a" title="Returns the current parity.">Serial_GetParity</a>( )
<a name="l00358"></a>00358 {
<a name="l00359"></a>00359   <span class="comment">// If there are no default values, get some</span>
<a name="l00360"></a>00360   <span class="keywordflow">if</span> ( !Serial.detailsInitialized )
<a name="l00361"></a>00361     Serial_SetDefault();
<a name="l00362"></a>00362 
<a name="l00363"></a>00363   <span class="keywordflow">return</span> Serial.parity;
<a name="l00364"></a>00364 }
<a name="l00365"></a>00365 <span class="comment"></span>
<a name="l00366"></a>00366 <span class="comment">/** </span>
<a name="l00367"></a>00367 <span class="comment">  Returns the number of stop bits.</span>
<a name="l00368"></a>00368 <span class="comment">  @return stopBits</span>
<a name="l00369"></a>00369 <span class="comment">*/</span>
<a name="l00370"></a><a class="code" href="group__serial.html#gae0e5f633a9a4845ca92cc09db683c13">00370</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#gae0e5f633a9a4845ca92cc09db683c13" title="Returns the number of stop bits.">Serial_GetStopBits</a>( )
<a name="l00371"></a>00371 {
<a name="l00372"></a>00372   <span class="comment">// If there are no default values, get some</span>
<a name="l00373"></a>00373   <span class="keywordflow">if</span> ( !Serial.detailsInitialized )
<a name="l00374"></a>00374     Serial_SetDefault();
<a name="l00375"></a>00375 
<a name="l00376"></a>00376   <span class="keywordflow">return</span> Serial.stopBits;
<a name="l00377"></a>00377 }
<a name="l00378"></a>00378 <span class="comment"></span>
<a name="l00379"></a>00379 <span class="comment">/** </span>
<a name="l00380"></a>00380 <span class="comment">  Returns whether hardware handshaking is being employed or not.</span>
<a name="l00381"></a>00381 <span class="comment">  @return hardwareHandshake</span>
<a name="l00382"></a>00382 <span class="comment">*/</span>
<a name="l00383"></a><a class="code" href="group__serial.html#g4fefdaf9c2c9573e475157c00c81537a">00383</a> <span class="keywordtype">int</span> <a class="code" href="group__serial.html#g4fefdaf9c2c9573e475157c00c81537a" title="Returns whether hardware handshaking is being employed or not.">Serial_GetHardwareHandshake</a>( )
<a name="l00384"></a>00384 {
<a name="l00385"></a>00385   <span class="comment">// If there are no default values, get some</span>
<a name="l00386"></a>00386   <span class="keywordflow">if</span> ( !Serial.detailsInitialized )
<a name="l00387"></a>00387     Serial_SetDefault();
<a name="l00388"></a>00388 
<a name="l00389"></a>00389   <span class="keywordflow">return</span> Serial.hardwareHandshake;
<a name="l00390"></a>00390 }
<a name="l00391"></a>00391 <span class="comment"></span>
<a name="l00392"></a>00392 <span class="comment">/** @}</span>
<a name="l00393"></a>00393 <span class="comment">*/</span>
<a name="l00394"></a>00394 
<a name="l00395"></a>00395 <span class="keywordtype">int</span> Serial_Init()
<a name="l00396"></a>00396 {
<a name="l00397"></a>00397   <span class="comment">// If there are no default values, get some</span>
<a name="l00398"></a>00398   <span class="keywordflow">if</span> ( !Serial.detailsInitialized )
<a name="l00399"></a>00399     Serial_SetDefault();
<a name="l00400"></a>00400 
<a name="l00401"></a>00401   <span class="comment">// Enable the peripheral clock</span>
<a name="l00402"></a>00402   AT91C_BASE_PMC-&gt;PMC_PCER = 1 &lt;&lt; AT91C_ID_US0;
<a name="l00403"></a>00403 
<a name="l00404"></a>00404   <span class="keywordtype">int</span> status;
<a name="l00405"></a>00405    
<a name="l00406"></a>00406   status = Io_StartBits( IO_PA00_BIT | IO_PA01_BIT, <span class="keyword">false</span>  );
<a name="l00407"></a>00407   <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00408"></a>00408     <span class="keywordflow">return</span> status;
<a name="l00409"></a>00409 
<a name="l00410"></a>00410   Io_SetPeripheralA( <a class="code" href="group___io_indices.html#g4b4eeed896a729a5d9486c8b5ab5e7d2" title="IO 0, Port A.">IO_PA00</a> );
<a name="l00411"></a>00411   Io_SetPeripheralA( <a class="code" href="group___io_indices.html#gd091a284381793316e217ae060cc12f5" title="IO 1, Port A.">IO_PA01</a> );
<a name="l00412"></a>00412   Io_PioDisable( <a class="code" href="group___io_indices.html#g4b4eeed896a729a5d9486c8b5ab5e7d2" title="IO 0, Port A.">IO_PA00</a> );
<a name="l00413"></a>00413   Io_PioDisable( <a class="code" href="group___io_indices.html#gd091a284381793316e217ae060cc12f5" title="IO 1, Port A.">IO_PA01</a> );
<a name="l00414"></a>00414   
<a name="l00415"></a>00415   <span class="comment">// Create the queues</span>
<a name="l00416"></a>00416   Serial.receiveQueue = xQueueCreate( 100, 1 ); 
<a name="l00417"></a>00417   Serial.transmitQueue = xQueueCreate( 100, 1 ); 
<a name="l00418"></a>00418 
<a name="l00419"></a>00419   <span class="comment">// Disable interrupts</span>
<a name="l00420"></a>00420   AT91C_BASE_US0-&gt;US_IDR = (<span class="keywordtype">unsigned</span> int) -1;
<a name="l00421"></a>00421 
<a name="l00422"></a>00422   <span class="comment">// Timeguard disabled</span>
<a name="l00423"></a>00423   AT91C_BASE_US0-&gt;US_TTGR = 0;
<a name="l00424"></a>00424 
<a name="l00425"></a>00425   <span class="comment">// Most of the detail setting is done in here</span>
<a name="l00426"></a>00426   <span class="comment">// Also Resets TXRX and re-enables RX</span>
<a name="l00427"></a>00427   Serial_SetDetails();
<a name="l00428"></a>00428 
<a name="l00429"></a>00429   <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> mask = 0x1 &lt;&lt; AT91C_ID_US0;    
<a name="l00430"></a>00430                         
<a name="l00431"></a>00431   <span class="comment">/* Disable the interrupt on the interrupt controller */</span>         
<a name="l00432"></a>00432   AT91C_BASE_AIC-&gt;AIC_IDCR = mask ;                   
<a name="l00433"></a>00433   <span class="comment">/* Save the interrupt handler routine pointer and the interrupt priority */</span> 
<a name="l00434"></a>00434   AT91C_BASE_AIC-&gt;AIC_SVR[ AT91C_ID_US0 ] = (<span class="keywordtype">unsigned</span> int)SerialIsr_Wrapper;      
<a name="l00435"></a>00435   <span class="comment">/* Store the Source Mode Register */</span>                  
<a name="l00436"></a>00436   AT91C_BASE_AIC-&gt;AIC_SMR[ AT91C_ID_US0 ] = AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL | 4  ;       
<a name="l00437"></a>00437   <span class="comment">/* Clear the interrupt on the interrupt controller */</span>         
<a name="l00438"></a>00438   AT91C_BASE_AIC-&gt;AIC_ICCR = mask ;         
<a name="l00439"></a>00439 
<a name="l00440"></a>00440   AT91C_BASE_AIC-&gt;AIC_IECR = mask;
<a name="l00441"></a>00441 
<a name="l00442"></a>00442   AT91C_BASE_US0-&gt;US_IER = AT91C_US_RXRDY; 
<a name="l00443"></a>00443 
<a name="l00444"></a>00444 
<a name="l00445"></a>00445   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00446"></a>00446 }
<a name="l00447"></a>00447 
<a name="l00448"></a>00448 <span class="keywordtype">int</span> Serial_Deinit()
<a name="l00449"></a>00449 {
<a name="l00450"></a>00450   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00451"></a>00451 }
<a name="l00452"></a>00452 
<a name="l00453"></a>00453 <span class="keywordtype">int</span> Serial_SetDetails( )
<a name="l00454"></a>00454 {
<a name="l00455"></a>00455   <span class="keywordflow">if</span> ( Serial.users )
<a name="l00456"></a>00456   {
<a name="l00457"></a>00457      <span class="comment">// Reset receiver and transmitter</span>
<a name="l00458"></a>00458     AT91C_BASE_US0-&gt;US_CR = AT91C_US_RSTRX | AT91C_US_RSTTX | AT91C_US_RXDIS | AT91C_US_TXDIS; 
<a name="l00459"></a>00459 
<a name="l00460"></a>00460     <span class="keywordtype">int</span> baudValue; 
<a name="l00461"></a>00461 
<a name="l00462"></a>00462     <span class="comment">// MCK is 47923200 for the Make Controller Kit</span>
<a name="l00463"></a>00463 
<a name="l00464"></a>00464     <span class="comment">// Calculate ( * 10 )</span>
<a name="l00465"></a>00465     baudValue = ( MCK * 10 ) / ( Serial.baud * 16 );
<a name="l00466"></a>00466     <span class="comment">// Round (and / 10)</span>
<a name="l00467"></a>00467     <span class="keywordflow">if</span> ( ( baudValue % 10 ) &gt;= 5 ) 
<a name="l00468"></a>00468       baudValue = ( baudValue / 10 ) + 1; 
<a name="l00469"></a>00469     <span class="keywordflow">else</span> 
<a name="l00470"></a>00470       baudValue /= 10;
<a name="l00471"></a>00471 
<a name="l00472"></a>00472     AT91C_BASE_US0-&gt;US_BRGR = baudValue; 
<a name="l00473"></a>00473 
<a name="l00474"></a>00474     AT91C_BASE_US0-&gt;US_MR = 
<a name="l00475"></a>00475       ( ( Serial.hardwareHandshake ) ? AT91C_US_USMODE_HWHSH : AT91C_US_USMODE_NORMAL ) |
<a name="l00476"></a>00476       ( AT91C_US_CLKS_CLOCK ) |
<a name="l00477"></a>00477       ( ( ( Serial.bits - 5 ) &lt;&lt; 6 ) &amp; AT91C_US_CHRL ) |
<a name="l00478"></a>00478       ( ( Serial.stopBits == 1 ) ? AT91C_US_NBSTOP_1_BIT : AT91C_US_NBSTOP_1_BIT ) |
<a name="l00479"></a>00479       ( ( Serial.parity == 0 ) ? AT91C_US_PAR_NONE : ( ( Serial.parity == -1 ) ? AT91C_US_PAR_ODD : AT91C_US_PAR_EVEN ) );
<a name="l00480"></a>00480       <span class="comment">// 2 &lt;&lt; 14; // this last thing puts it in loopback mode</span>
<a name="l00481"></a>00481 
<a name="l00482"></a>00482 
<a name="l00483"></a>00483     AT91C_BASE_US0-&gt;US_CR = AT91C_US_RXEN | AT91C_US_TXEN; 
<a name="l00484"></a>00484   }
<a name="l00485"></a>00485   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00486"></a>00486 }
<a name="l00487"></a>00487 
<a name="l00488"></a>00488 <span class="keywordtype">int</span> Serial_SetDefault()
<a name="l00489"></a>00489 {
<a name="l00490"></a>00490   Serial.baud = 9600;
<a name="l00491"></a>00491   Serial.bits = 8;
<a name="l00492"></a>00492   Serial.stopBits = 1;
<a name="l00493"></a>00493   Serial.parity = 0;
<a name="l00494"></a>00494   Serial.hardwareHandshake = 0;
<a name="l00495"></a>00495 
<a name="l00496"></a>00496   Serial.detailsInitialized = <span class="keyword">true</span>;
<a name="l00497"></a>00497   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00498"></a>00498 }
<a name="l00499"></a>00499 
<a name="l00500"></a>00500 <span class="preprocessor">#ifdef OSC</span>
<a name="l00501"></a>00501 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00502"></a>00502 <span class="comment">/** \defgroup SerialOSC Serial - OSC</span>
<a name="l00503"></a>00503 <span class="comment">  Configure the Serial Port and Read Characters via OSC.</span>
<a name="l00504"></a>00504 <span class="comment">  \ingroup OSC</span>
<a name="l00505"></a>00505 <span class="comment">  </span>
<a name="l00506"></a>00506 <span class="comment">  \section properties Properties</span>
<a name="l00507"></a>00507 <span class="comment">  The Serial Subsystem has eight properties:</span>
<a name="l00508"></a>00508 <span class="comment">  - baud</span>
<a name="l00509"></a>00509 <span class="comment">  - bits</span>
<a name="l00510"></a>00510 <span class="comment">  - stopbits</span>
<a name="l00511"></a>00511 <span class="comment">  - parity</span>
<a name="l00512"></a>00512 <span class="comment">  - hardwarehandshake</span>
<a name="l00513"></a>00513 <span class="comment">  - readable</span>
<a name="l00514"></a>00514 <span class="comment">  - char</span>
<a name="l00515"></a>00515 <span class="comment">  - block</span>
<a name="l00516"></a>00516 <span class="comment">  </span>
<a name="l00517"></a>00517 <span class="comment">  \par Baud</span>
<a name="l00518"></a>00518 <span class="comment">  The Baud rate of the device. Valid from 110 baud to &gt;2M baud\n</span>
<a name="l00519"></a>00519 <span class="comment">  To set baud rate to 115200, for example, send the message</span>
<a name="l00520"></a>00520 <span class="comment">  \verbatim /serial/baud 112500\endverbatim</span>
<a name="l00521"></a>00521 <span class="comment">  </span>
<a name="l00522"></a>00522 <span class="comment">  \par Bits</span>
<a name="l00523"></a>00523 <span class="comment">  The number of bits per character.  Can range from 5 to 8\n</span>
<a name="l00524"></a>00524 <span class="comment">  To set the number of bits to 7, for example, send the message</span>
<a name="l00525"></a>00525 <span class="comment">  \verbatim /serial/bits 7\endverbatim</span>
<a name="l00526"></a>00526 <span class="comment">  </span>
<a name="l00527"></a>00527 <span class="comment">  \par StopBits</span>
<a name="l00528"></a>00528 <span class="comment">  The number of stop bits per character.  Can be 1 or 2\n</span>
<a name="l00529"></a>00529 <span class="comment">  To set the number of stop bits to 2, for example, send the message</span>
<a name="l00530"></a>00530 <span class="comment">  \verbatim /serial/stopbits 2\endverbatim</span>
<a name="l00531"></a>00531 <span class="comment"></span>
<a name="l00532"></a>00532 <span class="comment">  \par Parity</span>
<a name="l00533"></a>00533 <span class="comment">  The parity of the character.  Can be -1 for odd, 0 for none or 1 for even\n</span>
<a name="l00534"></a>00534 <span class="comment">  To set the parity to even, for example, send the message</span>
<a name="l00535"></a>00535 <span class="comment">  \verbatim /serial/parity 1\endverbatim</span>
<a name="l00536"></a>00536 <span class="comment"></span>
<a name="l00537"></a>00537 <span class="comment">  \par HardwareHandshake</span>
<a name="l00538"></a>00538 <span class="comment">  Whether hardware handshaking (i.e. CTS RTS) is being employed.\n</span>
<a name="l00539"></a>00539 <span class="comment">  To set hardware handshaking on, for example, send the message</span>
<a name="l00540"></a>00540 <span class="comment">  \verbatim /serial/hardwarehandshake 1\endverbatim</span>
<a name="l00541"></a>00541 <span class="comment"></span>
<a name="l00542"></a>00542 <span class="comment">  \par Readable</span>
<a name="l00543"></a>00543 <span class="comment">  How many characters are presently available to read.\n</span>
<a name="l00544"></a>00544 <span class="comment">  To check, for example, send the message</span>
<a name="l00545"></a>00545 <span class="comment">  \verbatim /serial/readable\endverbatim</span>
<a name="l00546"></a>00546 <span class="comment"></span>
<a name="l00547"></a>00547 <span class="comment">  \par Char</span>
<a name="l00548"></a>00548 <span class="comment">  This property is the mechanism by which individual characters can be sent and received\n</span>
<a name="l00549"></a>00549 <span class="comment">  To send a character 32 (a space), for example, send the message</span>
<a name="l00550"></a>00550 <span class="comment">  \verbatim /serial/char 32\endverbatim</span>
<a name="l00551"></a>00551 <span class="comment">  To get a character send the message</span>
<a name="l00552"></a>00552 <span class="comment">  \verbatim /serial/char\endverbatim</span>
<a name="l00553"></a>00553 <span class="comment">  In this case the reply will be an unsigned value between 0 and 255 or -1 if there is </span>
<a name="l00554"></a>00554 <span class="comment">  no character available.</span>
<a name="l00555"></a>00555 <span class="comment">  </span>
<a name="l00556"></a>00556 <span class="comment">  \par Block</span>
<a name="l00557"></a>00557 <span class="comment">  This property allows for reading or writing a block of characters to/from the serial port.  If you're</span>
<a name="l00558"></a>00558 <span class="comment">  writing a block, you must send the block you want to write as an OSC blob.</span>
<a name="l00559"></a>00559 <span class="comment">  </span>
<a name="l00560"></a>00560 <span class="comment">  For example, to send a block:</span>
<a name="l00561"></a>00561 <span class="comment">  \verbatim /serial/block blockofchars\endverbatim</span>
<a name="l00562"></a>00562 <span class="comment">  To get a block, send the message</span>
<a name="l00563"></a>00563 <span class="comment">  \verbatim /serial/block\endverbatim</span>
<a name="l00564"></a>00564 <span class="comment">  In this case the reply will be a block of up to 100 unsigned chars, or the chars currently available to read</span>
<a name="l00565"></a>00565 <span class="comment">  from the serial port.</span>
<a name="l00566"></a>00566 <span class="comment">*/</span>
<a name="l00567"></a>00567 
<a name="l00568"></a>00568 <span class="preprocessor">#include "osc.h"</span>
<a name="l00569"></a>00569 <span class="preprocessor">#include "string.h"</span>
<a name="l00570"></a>00570 <span class="preprocessor">#include "stdio.h"</span>
<a name="l00571"></a>00571 
<a name="l00572"></a>00572 <span class="preprocessor">#include "types.h"</span>
<a name="l00573"></a>00573 
<a name="l00574"></a>00574 <span class="comment">// Need a list of property names</span>
<a name="l00575"></a>00575 <span class="comment">// MUST end in zero</span>
<a name="l00576"></a>00576 <span class="keyword">static</span> <span class="keywordtype">char</span>* SerialOsc_Name = <span class="stringliteral">"serial"</span>;
<a name="l00577"></a>00577 <span class="keyword">static</span> <span class="keywordtype">char</span>* SerialOsc_IntPropertyNames[] = { <span class="stringliteral">"active"</span>, <span class="stringliteral">"char"</span>, <span class="stringliteral">"baud"</span>, <span class="stringliteral">"bits"</span>, <span class="stringliteral">"stopbits"</span>, <span class="stringliteral">"parity"</span>, <span class="stringliteral">"hardwarehandshake"</span>, <span class="stringliteral">"readable"</span>, 0  }; <span class="comment">// must have a trailing 0</span>
<a name="l00578"></a>00578 <span class="keyword">static</span> <span class="keywordtype">char</span>* SerialOsc_BlobPropertyNames[] = { <span class="stringliteral">"block"</span>, 0  }; <span class="comment">// must have a trailing 0</span>
<a name="l00579"></a>00579 
<a name="l00580"></a>00580 <span class="keywordtype">int</span> SerialOsc_IntPropertySet( <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value );
<a name="l00581"></a>00581 <span class="keywordtype">int</span> SerialOsc_IntPropertyGet( <span class="keywordtype">int</span> property );
<a name="l00582"></a>00582 
<a name="l00583"></a>00583 <span class="keywordtype">int</span> SerialOsc_BlobPropertySet( <span class="keywordtype">int</span> property, uchar* blob, <span class="keywordtype">int</span> length );
<a name="l00584"></a>00584 <span class="keywordtype">int</span> SerialOsc_BlobPropertyGet( <span class="keywordtype">int</span> property, uchar* blob, <span class="keywordtype">int</span> size );
<a name="l00585"></a>00585 
<a name="l00586"></a>00586 <span class="comment">// Returns the name of the subsystem</span>
<a name="l00587"></a>00587 <span class="keyword">const</span> <span class="keywordtype">char</span>* SerialOsc_GetName( )
<a name="l00588"></a>00588 {
<a name="l00589"></a>00589   <span class="keywordflow">return</span> SerialOsc_Name;
<a name="l00590"></a>00590 }
<a name="l00591"></a>00591 
<a name="l00592"></a>00592 <span class="comment">// Now getting a message.  This is actually a part message, with the first</span>
<a name="l00593"></a>00593 <span class="comment">// part (the subsystem) already parsed off.</span>
<a name="l00594"></a>00594 <span class="keywordtype">int</span> SerialOsc_ReceiveMessage( <span class="keywordtype">int</span> channel, <span class="keywordtype">char</span>* message, <span class="keywordtype">int</span> length )
<a name="l00595"></a>00595 {
<a name="l00596"></a>00596   <span class="keywordtype">int</span> status = <a class="code" href="group___o_s_c_a_p_i.html#g9331ca23d8e81ba91c4e728f0470627e" title="Receive an integer for a subsystem with no indexes.">Osc_IntReceiverHelper</a>( channel, message, length, 
<a name="l00597"></a>00597                                       SerialOsc_Name,
<a name="l00598"></a>00598                                       SerialOsc_IntPropertySet, SerialOsc_IntPropertyGet, 
<a name="l00599"></a>00599                                       SerialOsc_IntPropertyNames );
<a name="l00600"></a>00600 
<a name="l00601"></a>00601   <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00602"></a>00602     status = <a class="code" href="group___o_s_c_a_p_i.html#g52a8d83512751817b3a4f9f123495fb0" title="Receive an OSC blob for a subsystem with no indexes.">Osc_BlobReceiverHelper</a>( channel, message, length, 
<a name="l00603"></a>00603                                       SerialOsc_Name,
<a name="l00604"></a>00604                                       SerialOsc_BlobPropertySet, SerialOsc_BlobPropertyGet, 
<a name="l00605"></a>00605                                       SerialOsc_BlobPropertyNames );                        
<a name="l00606"></a>00606 
<a name="l00607"></a>00607   <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00608"></a>00608     <span class="keywordflow">return</span> Osc_SendError( channel, SerialOsc_Name, status );
<a name="l00609"></a>00609   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00610"></a>00610 }
<a name="l00611"></a>00611 <span class="comment">// Set the index LED, property with the value</span>
<a name="l00612"></a>00612 <span class="keywordtype">int</span> SerialOsc_IntPropertySet( <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value )
<a name="l00613"></a>00613 {
<a name="l00614"></a>00614   <span class="keywordflow">switch</span> ( property )
<a name="l00615"></a>00615   {
<a name="l00616"></a>00616     <span class="keywordflow">case</span> 0: 
<a name="l00617"></a>00617       <a class="code" href="group__serial.html#g9193106181ca33626bd405a1f0434ee6" title="Set the active state of the Serial subsystem.">Serial_SetActive</a>( value );
<a name="l00618"></a>00618       <span class="keywordflow">break</span>;      
<a name="l00619"></a>00619     <span class="keywordflow">case</span> 1: 
<a name="l00620"></a>00620       <a class="code" href="group__serial.html#g656fe7020d5e9d1218ceb6d805c1a0ea" title="Sends a character (in the range of 0 to 255) to the write queue.">Serial_SetChar</a>( value );
<a name="l00621"></a>00621       <span class="keywordflow">break</span>;      
<a name="l00622"></a>00622     <span class="keywordflow">case</span> 2: 
<a name="l00623"></a>00623       <a class="code" href="group__serial.html#geaaa9b5540b566d9a34821a8b5039704" title="Sets the serial baud rate.">Serial_SetBaud</a>( value );
<a name="l00624"></a>00624       <span class="keywordflow">break</span>;      
<a name="l00625"></a>00625     <span class="keywordflow">case</span> 3: 
<a name="l00626"></a>00626       <a class="code" href="group__serial.html#g68d8aaf6db20f5d40c972816009df362" title="Sets the number of bits per character.">Serial_SetBits</a>( value );
<a name="l00627"></a>00627       <span class="keywordflow">break</span>;    
<a name="l00628"></a>00628     <span class="keywordflow">case</span> 4: 
<a name="l00629"></a>00629       <a class="code" href="group__serial.html#g8e7837524e2ce8996a228a550bba653e" title="Sets the stop bits per character.">Serial_SetStopBits</a>( value );
<a name="l00630"></a>00630       <span class="keywordflow">break</span>;
<a name="l00631"></a>00631     <span class="keywordflow">case</span> 5: 
<a name="l00632"></a>00632       <a class="code" href="group__serial.html#gbee8a4ec92c806213b16111c34888d55" title="Sets the parity.">Serial_SetParity</a>( value );
<a name="l00633"></a>00633       <span class="keywordflow">break</span>;    
<a name="l00634"></a>00634     <span class="keywordflow">case</span> 6: 
<a name="l00635"></a>00635       <a class="code" href="group__serial.html#g4a91a45c86376600e5d0bdcd43a67557" title="Sets whether hardware handshaking is being used.">Serial_SetHardwareHandshake</a>( value );
<a name="l00636"></a>00636       <span class="keywordflow">break</span>;    
<a name="l00637"></a>00637   }
<a name="l00638"></a>00638   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00639"></a>00639 }
<a name="l00640"></a>00640 
<a name="l00641"></a>00641 <span class="comment">// Get the index LED, property</span>
<a name="l00642"></a>00642 <span class="keywordtype">int</span> SerialOsc_IntPropertyGet( <span class="keywordtype">int</span> property )
<a name="l00643"></a>00643 {
<a name="l00644"></a>00644   <span class="keywordtype">int</span> value = 0;
<a name="l00645"></a>00645   <span class="keywordflow">switch</span> ( property )
<a name="l00646"></a>00646   {
<a name="l00647"></a>00647     <span class="keywordflow">case</span> 0:
<a name="l00648"></a>00648       value = <a class="code" href="group__serial.html#gcce26617c8506ce4194adefd107f93a2" title="Read the active state of the Serial subsystem.">Serial_GetActive</a>( );
<a name="l00649"></a>00649       <span class="keywordflow">break</span>;
<a name="l00650"></a>00650     <span class="keywordflow">case</span> 1:
<a name="l00651"></a>00651       value = <a class="code" href="group__serial.html#g476bb22eb20b7b24c418182077c103bd" title="Returns a single character from the receive queue if available.">Serial_GetChar</a>( );
<a name="l00652"></a>00652       <span class="keywordflow">break</span>;
<a name="l00653"></a>00653     <span class="keywordflow">case</span> 2:
<a name="l00654"></a>00654       value = <a class="code" href="group__serial.html#g6bc17fd08864dc68388da92e25a6d644" title="Returns the current baud rate.">Serial_GetBaud</a>( );
<a name="l00655"></a>00655       <span class="keywordflow">break</span>;
<a name="l00656"></a>00656     <span class="keywordflow">case</span> 3:
<a name="l00657"></a>00657       value = <a class="code" href="group__serial.html#g5509b2efd0f29408e77f22ae56c25947" title="Returns the number of bits for each character.">Serial_GetBits</a>( );
<a name="l00658"></a>00658       <span class="keywordflow">break</span>;
<a name="l00659"></a>00659     <span class="keywordflow">case</span> 4:
<a name="l00660"></a>00660       value = <a class="code" href="group__serial.html#gae0e5f633a9a4845ca92cc09db683c13" title="Returns the number of stop bits.">Serial_GetStopBits</a>( );
<a name="l00661"></a>00661       <span class="keywordflow">break</span>;
<a name="l00662"></a>00662     <span class="keywordflow">case</span> 5:
<a name="l00663"></a>00663       value = <a class="code" href="group__serial.html#gb3fe0242e8d76457aec54976e2631b8a" title="Returns the current parity.">Serial_GetParity</a>( );
<a name="l00664"></a>00664       <span class="keywordflow">break</span>;
<a name="l00665"></a>00665     <span class="keywordflow">case</span> 6:
<a name="l00666"></a>00666       value = <a class="code" href="group__serial.html#g4fefdaf9c2c9573e475157c00c81537a" title="Returns whether hardware handshaking is being employed or not.">Serial_GetHardwareHandshake</a>( );
<a name="l00667"></a>00667       <span class="keywordflow">break</span>;
<a name="l00668"></a>00668     <span class="keywordflow">case</span> 7:
<a name="l00669"></a>00669       value = <a class="code" href="group__serial.html#g8b7ec06170daf2e6d0b792fc47c1813f" title="Returns the number of bytes in the queue waiting to be read.">Serial_GetReadable</a>( );
<a name="l00670"></a>00670       <span class="keywordflow">break</span>;
<a name="l00671"></a>00671   }
<a name="l00672"></a>00672   
<a name="l00673"></a>00673   <span class="keywordflow">return</span> value;
<a name="l00674"></a>00674 }
<a name="l00675"></a>00675 
<a name="l00676"></a>00676 <span class="comment">// Get the index LED, property</span>
<a name="l00677"></a>00677 <span class="keywordtype">int</span> SerialOsc_BlobPropertyGet( <span class="keywordtype">int</span> property, uchar* blob, <span class="keywordtype">int</span> maxSize )
<a name="l00678"></a>00678 {
<a name="l00679"></a>00679   <span class="keywordtype">int</span> xfer = 0;
<a name="l00680"></a>00680   <span class="keywordflow">switch</span> ( property )
<a name="l00681"></a>00681   {
<a name="l00682"></a>00682     <span class="keywordflow">case</span> 0:
<a name="l00683"></a>00683     {
<a name="l00684"></a>00684       <span class="keywordtype">int</span> length = <a class="code" href="group__serial.html#g8b7ec06170daf2e6d0b792fc47c1813f" title="Returns the number of bytes in the queue waiting to be read.">Serial_GetReadable</a>();
<a name="l00685"></a>00685       xfer = ( length &lt; maxSize ) ? length : maxSize;
<a name="l00686"></a>00686       <span class="keywordflow">if</span> ( xfer &gt; 0 )
<a name="l00687"></a>00687         <a class="code" href="group__serial.html#g38bf8f1f9d2f3eca49c449a1c1a4a350" title="Read data from the Serial port.">Serial_Read</a>( blob, xfer, 100 );
<a name="l00688"></a>00688       <span class="keywordflow">break</span>;
<a name="l00689"></a>00689     }
<a name="l00690"></a>00690   }
<a name="l00691"></a>00691   
<a name="l00692"></a>00692   <span class="keywordflow">return</span> xfer;
<a name="l00693"></a>00693 }
<a name="l00694"></a>00694 
<a name="l00695"></a>00695 
<a name="l00696"></a>00696 <span class="comment">// Set the index LED, property with the value</span>
<a name="l00697"></a>00697 <span class="keywordtype">int</span> SerialOsc_BlobPropertySet( <span class="keywordtype">int</span> property, uchar* blob, <span class="keywordtype">int</span> length )
<a name="l00698"></a>00698 {
<a name="l00699"></a>00699   <span class="keywordflow">switch</span> ( property )
<a name="l00700"></a>00700   {
<a name="l00701"></a>00701     <span class="keywordflow">case</span> 0: 
<a name="l00702"></a>00702       <a class="code" href="group__serial.html#ga84bc3522badbcf45ad97e7a0320c54e" title="Write a block of data to the Serial port.">Serial_Write</a>( blob, length, 100 );
<a name="l00703"></a>00703       <span class="keywordflow">break</span>;      
<a name="l00704"></a>00704   }
<a name="l00705"></a>00705   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00706"></a>00706 }
<a name="l00707"></a>00707 
<a name="l00708"></a>00708 <span class="preprocessor">#endif</span>
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  <p class="footer">The Make Controller Kit is an open source project maintained by <a href="http://www.makingthings.com">MakingThings</a>.<br />
    MakingThings code is released under the <a href="http://www.apache.org/licenses/LICENSE-2.0.html" target="_blank">Apache 2.0 license</a>.<br />
    Bug tracker, development wiki and status can be found at <a href="http://dev.makingthings.com">http://dev.makingthings.com</a>.<br />
		This document was last updated on 5 Dec 2007.
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